اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدFault and Byzantine Tolerant Self-stabilizing Mobile Robots Gathering - Feasibility Study -
391
0
0.0
(
0
)
نشر من قبل
Maria Potop-Butucaru
تاريخ النشر
2016
مجال البحث
الهندسة المعلوماتية
والبحث باللغة
English
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial locations and no initial agreement on a global coordinate system, gathering requires that all robots, following their algorithm, reach the exact same but not predetermined location. Gathering is particularly challenging in networks where robots are oblivious (i.e., stateless) and direct communication is replaced by observations on their respective locations. Interestingly any algorithm that solves gathering with oblivious robots is inherently self-stabilizing if no specific assumption is made on the initial distribution of the robots. In this paper, we significantly extend the studies of de-terministic gathering feasibility under different assumptions This manuscript considerably extends preliminary results presented as an extended abstract at the DISC 2006 conference [7]. The current version is under review at Distributed Computing Journal since February 2012 (in a previous form) and since 2014 in the current form. The most important results have been also presented in MAC 2010 organized in Ottawa from August 15th to 17th 2010 related to synchrony and faults (crash and Byzantine). Unlike prior work, we consider a larger set of scheduling strategies, such as bounded schedulers. In addition, we extend our study to the feasibility of probabilistic self-stabilizing gathering in both fault-free and fault-prone environments.
قيم البحث
اقرأ أيضاً
We propose a framework to build formal developments for robot networks using the COQ proof assistant, to state and to prove formally various properties. We focus in this paper on impossibility proofs, as it is natural to take advantage of the COQ hig
her order calculus to reason about algorithms as abstract objects. We present in particular formal proofs of two impossibility results forconvergence of oblivious mobile robots if respectively more than one half and more than one third of the robots exhibit Byzantine failures, starting from the original theorems by Bouzid et al.. Thanks to our formalization, the corresponding COQ developments are quite compact. To our knowledge, these are the first certified (in the sense of formally proved) impossibility results for robot networks.
This paper proposes the first implementation of a self-stabilizing regular register emulated by $n$ servers that is tolerant to both mobile Byzantine agents, and emph{transient failures} in a round-free synchronous model. Differently from existing Mo
bile Byzantine tolerant register implementations, this paper considers a more powerful adversary where (i) the message delay (i.e., $delta$) and the period of mobile Byzantine agents movement (i.e., $Delta$) are completely decoupled and (ii) servers are not aware of their state i.e., they do not know if they have been corrupted or not by a mobile Byzantine agent.The proposed protocol tolerates emph{(i)} any number of transient failures, and emph{(ii)} up to $f$ Mobile Byzantine agents. In addition, our implementation uses bounded timestamps from the $mathcal{Z}_{13}$ domain and it is optimal with respect to the number of servers needed to tolerate $f$ mobile Byzantine agents in the given model.
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots get attacke
d, their communication channels get jammed, and their sensors may fail, resulting in the withdrawal of robots from the collective task, and consequently the inability of the remaining active robots to coordinate with each other. As a result, traditional design paradigms become insufficient and, in contrast, resilient designs against system-wide failures and attacks become important. In general, resilient design problems are hard, and even though they often involve objective functions that are monotone or submodular, scalable approximation algorithms for their solution have been hitherto unknown. In this paper, we provide the first algorithm, enabling the following capabilities: minimal communication, i.e., the algorithm is executed by the robots based only on minimal communication between them; system-wide resiliency, i.e., the algorithm is valid for any number of denial-of-service attacks and failures; and provable approximation performance, i.e., the algorithm ensures for all monotone (and not necessarily submodular) objective functions a solution that is finitely close to the optimal. We quantify our algorithms approximation performance using a notion of curvature for monotone set functions. We support our theoretical analyses with simulated and real-world experiments, by considering an active information gathering scenario, namely, multi-robot target tracking.
This paper proposes the first implementation of an atomic storage tolerant to mobile Byzantine agents. Our implementation is designed for the round-based synchronous model where the set of Byzantine nodes changes from round to round. In this model we
explore the feasibility of multi-writer multi-reader atomic register prone to various mobile Byzantine behaviors. We prove upper and lower bounds for solving the atomic storage in all the explored models. Our results, significantly different from the static case, advocate for a deeper study of the main building blocks of distributed computing while the system is prone to mobile Byzantine failures.
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The contribution of th
is paper is threefold. First, we present a new model for studying mobile entities in networks subject to transient faults. Our model differs from the classical robot model because robots have constraints about the paths they are allowed to follow, and from the classical agent model because the number of agents remains fixed throughout the execution of the protocol. Second, in this model, we study the possibility of designing self-stabilizing algorithms when those algorithms are run by mobile robots (or agents) evolving on a graph. We concentrate on the core building blocks of robot and agents problems: naming and leader election. Not surprisingly, when no constraints are given on the network graph topology and local execution model, both problems are impossible to solve. Finally, using minimal hypothesis with respect to impossibility results, we provide deterministic and probabilistic solutions to both problems, and show equivalence of these problems by an algorithmic reduction mechanism.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
